A mother is dead and her 9-year-old daughter critically injured after a horrific hit-and-run in Queens Sunday night, cops said. Robert Stridiron

A woman was killed and her 9-year-old daughter critically injured in Queens on Sunday when a drunken driver in a BMW plowed through a stop sign at more than 50 mph and hit their car, cops and witnesses said.

The incident unfolded in South Ozone Park just after 5 p.m.

Police on Monday morning were still hunting for the driver, who stopped long enough for witnesses to see that he was drunk before he took off.

Zaalika Rasool, 40, was pronounced dead at the scene. Her daughter was rushed to Long Island Jewish Hospital where she was listed in critical condition.

Azaan Rasool, identified as the girl’s dad, was behind the wheel of a red Toyota Camry on 115th Avenue — waiting at the stop sign to make a left turn onto 130th Street — when the driver of the BMW X5 SUV came racing up from behind, flying past two vehicles before smashing into the rear of the family’s car. The mom and child were ejected.

“It didn’t even sound like a crash, it sounded like a bomb going off,” said V.J. Gajai of Ozone Park.

“I saw someone pinned under the car,” he added, referring to the woman. “Her body was lifeless under the car, just her head sticking out.”

Police said the driver of the BMW was believed to be drunk. Gajai agreed, saying the driver was apparently accompanied by a boozed-up buddy.

“Just the way he was talking, the way he was moving, [I could tell] they were drunk,” he said. “[The driver] was slurring his words.”